Actuated Sprayer System

ABSTRACT

This technology relates to system for clearing a sensor cover. The system may include a sprayer, a support, and a positioning device. The sprayer may be mounted to the support and direct a flow of fluid to the sensor cover. The positioning device may be configured to adjust the position of the sprayer on the support. The system may include a nozzle and the nozzle may be positioned to direct the flow of fluid to an area of the sensor cover. The system may include additional sprayers.

BACKGROUND

Various types of vehicles, such as cars, trucks, motorcycles, busses,boats, airplanes, helicopters, lawn mowers, recreational vehicles,amusement park vehicles, farm equipment, construction equipment, trams,golf carts, trains, trolleys, etc., may be equipped with various typesof sensors in order to detect objects in the vehicle's environment. Forexample, vehicles, such as autonomous vehicles, may include LIDAR,radar, sonar, camera, or other such imaging sensors that scan and recorddata from the vehicle's environment. Sensor data from one or more ofthese sensors may be used to detect objects and their respectivecharacteristics (position, shape, heading, speed, etc.).

However, these vehicles are often subjected to environmental elementssuch as rain, snow, dirt, condensation, etc., which can cause a buildupof debris and contaminants on these sensors. Typically, the sensorsinclude a cover to protect the internal sensor components of the sensorsfrom the debris and contaminants, but over time, the cover itself maybecome dirty. As such, the functions of the internal sensor componentsmay be impeded as signals transmitted and received by the internalsensor components are blocked by the debris and contaminants.

SUMMARY

Aspects of the disclosure provide a system for clearing a sensor cover.The system may include a sprayer; a support, wherein the sprayer ismounted to the support; and a positioning device, wherein thepositioning device is configured to adjust the position of the sprayeron the support, and, wherein the sprayer is configured to direct a flowof fluid to the sensor cover.

In some instances the sprayer includes a nozzle, wherein the nozzle ispositioned to direct the flow of fluid to an area of the sensor cover.In some examples, the nozzle is adjustable to direct the flow of fluidto other areas of the sensor cover.

In some instances, the system may include one or more additionalsprayers. The one or more additional sprayers may be mounted on thesupport. In some examples the system may include one or more additionalsupports. The one or more additional sprayers may be mounted on the oneor more additional supports. In some instances the positioning devicemay be a linear actuator. The linear actuator may be attached to thesprayer via an arm, wherein the arm is configured to adjust the positionof the sprayer on the support.

In some instances, the support may include a plurality of grooves, andthe sprayer may include a gear system, wherein the gear system isrotatable in the plurality of grooves. The sprayer may further include aturbine, wherein the turbine is configured to rotate the gear system inthe plurality of grooves.

In some instances the system may further comprise a track. The supportmay be positioned within the track. In some instances, the system mayfurther comprise a motor. The motor may be configured to rotate thesupport within the track and around the sensor cover. The support may beattached to the track and the motor is configured to rotate the trackaround the sensor cover.

In some instances, the system may further comprise a pump for providingthe sprayer with the fluid.

In some instances, the system may further comprise an actuator, whereinthe actuator may be configured to adjust the height of the supportrelative to the sensor cover.

In some instances, the fluid may be one or more of water, anti-freeze,detergent, gas, and soap.

In some instances, the system may further comprise a monitoring sensor,wherein the monitoring sensor is configured to detect a buildup of oneor more elements on the sensor cover. In some examples, the one or moreelements may be any combination of ice, snow, and condensation. In someinstances, the monitoring sensor, upon detecting a buildup of one ormore elements on the sensor cover, may trigger the sprayer to direct theflow of fluid on the sensor cover in the direction of the one or moreelements.

BRIEF DESCRIPTION OF THE DRAWINGS

The present technology is illustrated by way of example, and not by wayof limitation, in the figures of the accompanying drawings in which likereference numerals refer to similar elements including:

FIG. 1 shows a sensor attached to a vehicle in accordance with aspectsof the disclosure.

FIG. 2 illustrates a sensor cover connected to a motor in accordancewith aspects of the disclosure.

FIG. 3 illustrates a nozzle directing a stream of fluid onto a sensorcover in accordance with aspects of the disclosure.

FIG. 4 illustrates a repositionable sprayer system in accordance withaspects of the disclosure.

FIGS. 5A and 5B illustrate the repositioning of a sprayer in accordancewith aspects of the disclosure.

FIG. 6 illustrates a repositionable sprayer system in accordance withaspects of the disclosure.

FIG. 7 illustrates a hydraulic repositioning system in accordance withaspects of the disclosure.

FIG. 8 illustrates a repositionable sprayer system having multiplesprayers on a support in accordance with aspects of the disclosure.

FIG. 9 illustrates a repositionable sprayer system having multiplesupports in accordance with aspects of the disclosure.

FIG. 10 illustrates a retractable repositionable sprayer system inaccordance with aspects of the disclosure.

FIG. 11 illustrates a retractable repositionable sprayer systempositioned in a track in accordance with aspects of the disclosure.

FIG. 12 illustrates a contaminant removal system in accordance withaspects of the disclosure.

FIG. 13 illustrates a repositionable sprayer system in accordance withaspects of the disclosure.

DETAILED DESCRIPTION

This technology relates to removing, or otherwise preventing,environmental elements from building-up on sensors in order to assureadequate operation. The sensors may include a cover to protect theinternal sensor components from elements, such as rain, snow, dust,dirt, condensation, and other such debris (collectively referred toherein as contaminants). However, the cover itself may become coveredover time, such as by dirt while operating near a construction site, orsnow while operating during a snow storm. Moreover, temperaturedifferences between the interior of the sensor (i.e., within the sensorcover) and the sensor's external environment (i.e., outside of thesensor cover) may result in the formation of condensation on thesensor's cover. Thus, the functions of internal sensor components of thesensor may be impeded as signals transmitted and received by theinternal sensor components may be blocked by the elements and/orcondensation. These issues may be exacerbated in sensors having largercovers, as the chance for elements building-up on a larger sensor coveris greater and can be especially problematic in the case of autonomousvehicles which rely upon data generated by these sensors to make drivingdecisions.

Contaminants which build up on the sensor cover may be removed byproviding a temporary or continuous stream of a fluid. For instance,contaminants, such as snow and ice during a winter storm, may build upon the sensor cover as the vehicle progresses on a trip. Upon, or beforethe contaminants have an impact the operation of the sensor's internalcomponents, a sprayer, which may include a nozzle, positioned around thesensor cover, may provide a directed stream of fluid to spray and/ormelt away the contaminants. However, for larger sensor covers, a sprayerpositioned around the sensor cover may not be able to provide a streamof fluid at the distance, direction, or force needed to reach and clearthe contaminants. Moreover, when the stream of fluid is applied to thesensor cover with insufficient force to effectively clear thecontaminants, more fluid may be required resulting in inefficient usageof the fluid.

To address these issues, a repositionable sprayer system may align asprayer at a location where a stream of fluid can be applied with enoughforce to efficiently remove contaminants The repositionable sprayersystem may include a sprayer and support. The sprayer may be moveablymounted, or otherwise attached, to the support, such that the sprayermay move up and down on the support. The sprayer may include a nozzleconfigured to deliver the stream of fluid to remove the contaminants.

The position of the sprayer relative to the sensor may be adjusted by apositioning device. An actuator may move the sprayer up and down thesupport, thereby adjusting the alignment of the sprayer relative to thesensor cover. In some instances, the positioning device may behydraulically operated via a reduction drive and turbine. In thisregard, the positioning of the sprayer relative to the sensor may beadjusted by driving a stream of fluid through a turbine, which in turnmay rotate the reduction drive, which in turn may cause the sprayer tomove in a first direction within the groove. The stream of fluid may beoutput by the nozzle of the sprayer after flowing past the turbine. Whenthe stream of fluid ceases, the turbine may no longer be driven by thefluid and the sprayer may move in a second, opposite direction.

Multiple sprayers may be positioned on a support and more than onesupport may be positioned around a sensor. In this regard, each sprayermay be capable of directing a stream of fluid at the same or differentareas of the sensor cover. Moreover, positioning more than one supportaround the sensor may allow the sprayers on one support to directstreams of fluids to portions of the sensor cover not capable of beingsprayed by other sprayers positioned on different supports.

A track may be positioned around the sensor to provide a path for one ormore supports to travel around the sensor. By doing such, the sprayerson the support may be capable of providing streams of fluid to multipleportions of the sensor cover.

A vehicle may have one or more sensors to detect objects external to thevehicle such as other vehicles, obstacles in the roadway, trafficsignals, signs, trees, etc. For example, the vehicle 101, as shown inFIG. 1, may include lasers, sonar, radar, cameras and/or any otherdetection devices that capture images and record data which may beprocessed by computing devices within the vehicle. The vehicle'ssensors, such as LIDAR, radar, cameras, sonar, or other such imagingsensors, may capture images and detect objects and their characteristicssuch as location, orientation, size, shape, type, direction and speed ofmovement, etc. Images may include the raw (i.e., unprocessed) datacaptured by the sensors and/or pictures and videos captured by camerasensors. Images may also include processed raw data. For instance, theraw data from the sensors and/or the aforementioned characteristics canbe quantified or arranged into a descriptive function or vector forprocessing by the computing devices. The images may be analyzed todetermine the vehicle's location, and to detect and respond to objectswhen needed.

The sensors may be arranged around the vehicle's exterior or interior.For example, housings 130, 140, 142, 150, 152 may include, for example,one or more LIDAR devices. The sensors may also be incorporated into thetypical vehicle components, such as taillights/turn signal lights 104and/or side view mirrors 108. In some instances one or more laser,radar, sonar, camera and/or other such imaging sensors may be mounted onthe roof, such as in housing 122, attached to mount 120.

A vehicle sensor may be comprised of internal sensor components, a coverfor housing the internal sensor components, and a cover window. Thecover window may be constructed at a specific location on the sensorcover and the internal sensor components may transmit and receive one ormore signals through the cover window. The sensor cover may beconfigured in various shapes and sizes, such as spheres, cylinders,cuboids, cones, prisms, pyramids, cubes, etc. For instance, as shown inFIG. 2, the sensor cover 215 of sensor 201 may be configured such thatit has a domed shaped portion 217 with a side wall 205 in the shape of afrustum. The sensor cover 215 may be comprised of materials such asplastic, glass, polycarbonate, polystyrene, acrylic, polyester, etc.

As noted above, the cover may include a cover window through which theinternal sensor components may transmit and receive signals. Forinstance, as further shown in FIG. 2, the side wall 205 of the sensorcover 215 may include a cover window 216 incorporated therein, to allowsignals (not shown) to penetrate the sensor cover 215. Although thecover window 216 is shown as being only a portion of the sidewall 205,in some instances the entire sidewall 205 may be constructed as a coverwindow. Further, multiple cover windows may be positioned on the sensorcover 215. The cover window 216 may be composed of the same, ordifferent, material as the sensor cover 215. In some instances theentire sensor cover 215, or a large portion of the sensor cover, may bepenetrable by the signals transmitted and received by the internalsensor components, thereby allowing the entire sensor cover 215 tofunction as a cover window.

The sensor may be attached to a motor via a sensor shaft. For instance,as further shown in FIG. 2, the sensor shaft 230 may include a first end232 and a second end 234. The first end of the of a sensor shaft 232 maybe attached to a sensor motor 220 and the second end of the sensor shaft234 may be connected to the sensor 201 and sensor cover 215, such as atthe base 206 of the sensor cover. In this regard, the first end of thesensor shaft 232 may be attached to the motor 320 via a belt, gear,chain, friction roller, etc. The motor 220 may rotate the sensor shaft230 in the first direction 235 causing the entire sensor 201 to alsorotate in the first direction 235. In some embodiments the sensor shaft230 may only rotate the sensor cover 215, and not the internalcomponents of the sensor. The sensor 201 and motor 220 may each belocated internally or externally from a vehicle.

Elements which build up on the sensor cover may be removed by providinga temporary or continuous stream of a fluid. For instance, contaminants330, which may represent snow and ice, dirt, mud, sand, leaves, or othersuch elements, may build up on the sensor cover 215 of sensor 201 as thevehicle progresses on a trip, such as during a snow and/or ice storm, asshown in FIG. 3. Upon or before the contaminants 330 impact theoperation of the sensor's internal components, a nozzle 310, such as ajet nozzle, positioned in the vicinity of the sensor cover 215, mayprovide a directed stream of fluid 320 to spray and/or melt away thecontaminants 330, as further shown in FIG. 3. The fluid may be any typeof liquid such as water, anti-freeze, detergent, gas, and/or soap.

A repositionable sprayer system may align a sprayer at a location wherea stream of fluid can be applied with enough force to efficiently removecontaminants and debris. The repositionable sprayer system's ability toadjust the location of the sprayer allows the sprayer to overcome issuesencountered by stationary devices (e.g., nozzle 310 shown in FIG. 3),including the inability to provide a stream of fluid at the distance,direction, and/or force needed to reach and clear contaminants on sensorcovers. Turning to the example of FIG. 4, a repositionable sprayersystem 400 may include a sprayer 401 and support 411 positioned in thevicinity of a sensor, such as sensor 201, as shown in FIG. 4. Thesprayer 401 may be moveably mounted, or otherwise attached, to thesupport 411, such that the sprayer may move up and down on the support,as illustrated by arrows 420. A conduit 413, such as a rubber hose, andmay be positioned within the support 411. One end of the conduit 413 maybe connected to a nozzle 410 positioned on and/or within the sprayer 401to deliver fluid. In some instances the conduit 413 may be partially orfully routed to the sprayer from outside of the support.

A positioning device may control the alignment of the sprayer. In thisregard, the repositionable sprayer system 500 may include an actuator501, as shown in FIGS. 5A and 5B. The actuator 501 may be a linearactuator capable of positioning a sprayer at a certain location. Theactuator 501 may be attached to the sprayer 401 via an arm 503. Uponbeing activated, the actuator 501 may move the arm 503 towards the domedshaped portion 217 of the sensor cover, as shown in FIG. 5A, or downwardtoward the base 206 of the sensor cover, as shown in FIG. 5B. Thesprayer 401 may move in the same direction as the arm 503 to which it isattached. Although the actuator 501 is shown as being positioned withinthe body of the vehicle 511 in FIGS. 5A and 5B, the actuator may bepositioned outside of the body of the vehicle, within the support,and/or within the sprayer. In some instances, the positioning drive maybe a lead screw on which a carrier is attached. The carrier may beattached to one or more sprayers. A motor may rotate the lead screw,which may cause the carrier and the sprayers attached thereto to movealong the lead screw. The carrier may move in an opposite direction whenthe rotation direction of the screw is reversed.

The alignment of the sprayer relative to the sensor cover may be basedon the location of the debris to be cleared. In this regard, theactuator 501 may receive instructions from a controller, describedfurther herein, where the sprayer 401 should be positioned to clear thecontaminants. For instance, the controller may instruct the actuator 501to position the sprayer 401 near the domed shaped portion 217 of thesensor cover to clear contaminants 530 by providing a stream of fluid520 from nozzle 410. In another example, the controller may instruct theactuator 501 to position the sprayer 401 near the base 206 of the sensorcover to clear contaminants 531 by providing a stream of fluid 521 fromnozzle 410.

Motors and other such devices capable of moving the sprayer may also beused to control the positioning of the sprayer. For instance, and asshown in FIG. 6, the repositionable sprayer system 600, which may becompared to repositionable sprayer system 400, may include a motor 601attached to a reduction drive 602. The reduction drive may be attachedto the sprayer 401 via a connection, such as arm 603. The motor maydrive the reduction drive 602, which moves the sprayer 401 and/or arm603 up and down on the support 411, as illustrated by arrows 620. Thereduction drive 602 may control the rate of movement of the sprayer 401by reducing the amount of rotational movement generated by the motor601.

In some instances, the positioning device may be hydraulically operated.For instance, as shown in FIG. 7, the positioning device may include agear system 701, such as a reduction drive attached to a turbine 703positioned within the sprayer 401. The sprayer 401 may be attached togrooves 711 within the support 411. In this regard, one or more gears ofthe gear system 701 may be positioned such that they are rotatablewithin the grooves 711, as further shown in FIG. 7. Fluid passingthrough the conduit 413 may cause the turbine 703 to rotate which inturn may cause the gear system 702 to rotate. The rotation of the gearsystem 702 may cause the sprayer 401 to move from a resting location atthe base 730 of the support in a first direction within the grooves 711,as illustrated by arrow 720. Upon the fluid be stopped from passingthrough the sprayer 401, the sprayer 401 may move in a second, oppositedirection in the grooves 711 back to the resting position at the base730 of the support 411.

The repositionable sprayer system may include an auto reverse function.The auto reverse function may include a switch which causes the gear boxto rotate in an opposite direction upon the sprayer reaching apredefined location or locations on the support. For instance, the autoreverse function may be triggered upon the sprayer reaching a locationon the support corresponding to the top of the sensor cover and againtriggering upon the sprayer reaching a location on the supportcorresponding to the bottom of the sensor cover. In some instances, theturbine and gear box may rotate a cam (not shown) which controls thedistance and direction of travel of the sprayer on the shaft. The cammay be configured to automatically change direction of the sprayer uponthe sprayer reaching a certain distance on the shaft.

A support may include more than one sprayer. For instance, as shown inFIG. 8, multiple sprayers, 801A-801X, may be positioned on a singlesupport 811, which may be compared to support 411. Each sprayer801A-801X may be capable of directing a stream of fluid at the same ordifferent areas of the sensor cover 215. For instance, contaminants830A-830X on the sensor cover 215 may be subjected to streams of fluid820A-820X delivered by sprayers 801A-801X, respectively. The alignmentof each sprayer 801A-801X on the support 811 may be controlled by one ormore actuators, such as actuator 850. In this regard, each actuator maycontrol the alignment of a single sprayer, pairs of sprayers, or groupsof sprayers. In some instances, motors may be used in place of theactuators. Although the actuator 850 is shown as being positioned withinthe body of the vehicle 821 in FIG. 8, the actuator may be positionedoutside of the body of the vehicle and/or within or attached to thesupport 811 or sprayers 801A-801X.

More than one support may be positioned around a sensor cover. Forexample, FIG. 9 shows two supports 911A and 911B, which may be comparedwith support 411, positioned on opposite sides of a sensor cover 215.The sprayers on each support 901A and 901B, which may be compared tosprayer 401, may be capable of directing a stream of fluid to the sameor different portions of the sensor cover 215. In this regard, themovement of each sprayer may be controlled by one or more actuators.

In some instances, the supports may be retracted within the body of thevehicle when not in use. In this regard, an actuator, such as the linearactuator 1022 shown in FIG. 10, may move the support 1011 and sprayer1001, which may be compared to support 411 and sprayer 401,respectively, within the body of the vehicle 1021 when not in use toavoid interfering with operation of the sensor 201. The linear actuator1022 may extend the support out of the body of the vehicle when therepositionable sprayer system is needed.

A track may be positioned around the sensor. The track may provide apath around a support of the repositionable sprayer system may rotate todirect the sprayer to different portions of the sensor cover. Forinstance, as shown in FIG. 11, a track 1101 is positioned within thevehicle's body (not shown for clarity) and the support 1111 is attachedthereto. An actuator 1102 may rotate, in the directions illustrated byarrow 1103, the support 1111 within the track 1101 and/or the trackitself to position the sprayer 1104, which may be compared to sprayer401. The position of the sprayer relative to the sensor 201 may bedetermined by a controller, as described herein.

The repositionable sprayer system may be part of a contaminant removalsystem which may include a pump to force fluid through the nozzle todeliver a stream of fluid to the contaminants. For instance, thecontaminant removal system 1200, as shown in FIG. 12, may include a pump1255 and repositionable sprayer system 1201, which may be compared tocontaminant removal systems 400 and 600. The pump 1255 andrepositionable sprayer system 1201 may be connected together via one ormore conduits 1260A-C. The one or more conduits may be rubber, plastic,metal, or other such tubing capable of passing fluids to and from thecomponents of the contaminant removal system. Although three conduits1260A-C are shown in FIG. 12, fewer or more conduits may be present inthe contaminant removal system. In this regard, the number of conduitsmay be based on the number of devices within the contaminant removalsystem 1200 and the number of connections required between thesedevices. For instance, as the number of nozzles and sprayers in therepositionable sprayer system 1201 increases, as discussed herein, thenumber of conduits from the pump 1255 and/or heater 1230 may beincreased. Additionally, the contaminant removal system may include morethan one pump and heater resulting in the need for additional conduits.

The contaminant removal system 1200 includes a fluid source 1250. Inthis regard, the fluid source 1250 may be a plastic reservoir, or othersuch container, which stores the fluid output by the repositionablesprayer system 1210. For instance, and as shown in FIG. 12, the pump1255 may be connected to the fluid source 1250 via conduit 1260C. Insome instances the pump 1255 may be positioned within the fluid source1250. When the contaminant removal system 1200 is operated, such asthrough control of the controller 1280, the pump 1255 may cause thefluid to travel through the conduits 1260A-C from the fluid source 1250to the repositionable sprayer system 1201 at a particular pressure.

The repositionable sprayer system 1201 may apply the directed stream offluid(s) at a particular velocity to the sensor cover. In this regard,referring to both FIGS. 12 and 13, based upon the pressure of the fluidgenerated by the pump 1255 and the flow rate of the nozzle 410, thevelocity of the directed stream of fluid 520 output by the nozzle 410may be controlled and adjusted. In this regard, the flow rate of thenozzle 410 and the pressure generated by the pump 1255 may be increasedand/or decreased to generate a particular velocity of the directedstream of fluid 1320. In some instances, directed stream of fluid mayhave a velocity of about 8 meter/sec, or more or less, as measured fromabout 25 mm away from the face of the nozzle, or more or less, to cleara sensor cover, such as sensor cover 215, from about 4 mm away from theface of the nozzle, or more or less.

The nozzle or nozzles of the repositionable sprayer system 1201 mayapply the directed stream of fluid in a particular direction. In thisregard, referring to FIG. 13, the direction of the nozzle 410 may bestationary or adjustable and may be set such that it sprays the directedstream of fluid on a particular area of the sensor cover. In someinstances, the direction of the nozzle may be manually adjusted suchthat the nozzle may spray the directed stream of fluid on more than onearea of the sensor cover. In some instances, the direction of the nozzle410 may be controlled by a motor, such that the direction of the nozzlemay be automatically directed to particular locations of the sensorcover, for instance, in response to an instruction from controller 1280.

In certain instances, the angle of the directed stream of fluid relativeto the sensor cover may be adjusted based on the direction of the nozzleand the velocity of the directed stream of fluid. In this regard, thedirected stream of fluid 1320 may contact the sensor cover 215 at aparticular angle, thereby forcing the elements on the sensor cover, suchas contaminants 1330 in a particular direction. For instance, thedirected stream of fluid 1320 may contact the sensor cover such that thecontaminants 1330 are directed up and away from the sensor window 216.

In some instances, the sensor cover may be rotated while the one or moresprayers apply directed streams of fluid. For example, as shown in FIG.2, the sensor cover 215 may be rotated in the first direction 235.During the rotation of the sensor cover 215, a sprayer, such as sprayer401 may direct a stream of fluid at the sensor cover 215. By doing such,the directed stream of fluid may contact an entire circumferentialportion or area of the sensor cover 215, such as the entirety of thesensor window 216 or some other portion of the sensor cover.

A heater may be used to warm the fluid prior to it being sprayed ontothe sensor as it travels from the pump to the nozzle. For example,referring again to the contaminant removal system of FIG. 12, a heater1230 may be positioned between the pump 1255 and the nozzlerepositionable sprayer system 1201. As the fluid travels from the pump1255 via conduit 1260B to the repositionable sprayer system 1201 viaconduit 1260A, the heater 1230 may heat the fluid. When output by therepositionable sprayer system 1201, the heated fluid may be sprayed ontoelements on the sensor cover 215, such as contaminants 1330, therebycausing the debris and contaminants to be melted by the fluid, as wellas blown or otherwise sprayed off. In some instances, in addition or inlieu of the heater 1230, a cooler (not shown) may be used to cool thepressurized fluid prior to being output by the nozzle. The heater 1230may be directly connected to the fluid source, thereby heating thecontents of the fluid source, such as the fluid. In some instance, theheater may be separately powered or use waste heat from other componentsof the vehicle, such as the drive train or electronics cooling loops. Toheat or assist the heater in heating the fluid within the fluid source1250, the fluid source 1250 may be located in a warm part of the vehiclesuch as in the cabin or in proximity to a heat source such as the drivetrain or electronics cooling loops.

In some instances the heated fluid may be provided to the sensor coverto prevent or remove condensation buildup. In this regard, applying atemporary or continuous stream of heated fluid to the sensor cover 215may raise the temperature of the sensor cover, thereby preventing theformation of condensation. The heating of the sensor cover 215 may alsocause any condensation on the sensor cover to evaporate more quickly.For instance, FIG. 13 shows contaminants 1330, which may becondensation, built-up on sensor window 216 incorporated into sensorcover 215 of sensor 201. A heated directed stream of fluid may besprayed on the portion of the sensor window 216 where contaminants 1330have built-up. By doing such, the sensor window 216 may warm up, therebypreventing the formation of additional condensation. Additionally, theheated directed stream of fluid may cause the built-up contaminants 1330of condensation to evaporate quickly. Moreover, the heat added to theexterior surface of the cover may conduct through the sensor cover,heating the inner surface of the sensor cover leading to the evaporationof condensation from the interior surface of the sensor cover.

In some instances the directed stream of fluid may be provided tolocations on the sensor cover through which the sensor captures sensordata such as images, light, etc. As discussed herein, internal sensorcomponents may send and receive signals through sensor windows, such assensor window 216 on the sensor cover 215. Thus, as long as the sensorwindow 216 remains free of buildup, the internal sensor components maycontinue to capture sensor data without interference from the elementsor condensation. Thus, heated and/or unheated directed streams of fluidmay be applied only to the sensor window 216 and/or the areas around thesensor window 216 to prevent the buildup of condensation or elements onthe sensor window 216.

In some examples, additional sensors may be used to automaticallydetermine when to apply a fluid to the sensor cover and whether thefluid should be heated. In this regard, the additional sensors, such asone or more moisture sensors or cameras located on the interior oradjacent to the exterior of the sensor cover 215, may be used to monitorthe sensor cover for buildup of condensation or elements. Upon apredetermined threshold of buildup occurring, the additional sensors maytrigger the application of a fluid to the cover. For instance, sensor550 of FIG. 13 may monitor the buildup of contaminants near or on thesensor 201. Upon the buildup of contaminants meeting a predeterminedthreshold of buildup, the sensor 550 may trigger the controller 1280 tooperate the contaminant removal system 1200, and generate an applicationof fluid to the cover 201.

For instance, based on a collection of images captured by one or morecameras within the sensor cover, one or more camera sensors maydetermine an occlusion of a portion of the sensor cover over time as ablockage within the images or a reduction in the sharpness of the imagemay increase. In some instances, images generated by different sensors,for example different cameras, observing the same scene can be comparedto find significant differences which would indicate a problem with oneof the sensor views. For example, lidar sensors may detect a sudden andpersistent change in return signal intensity and timing over a region ofthe scene. Depending on the lidar configuration, this may be a spot or aband of change depending whether the window rotates with the sensor. Aspinning lidar that sees the scene through multiple windows atalternating periods could observe a difference in scene data from onewindow versus another, thereby indicating a buildup where intensity isdecreased.

Additional sensors may also monitor moisture levels and temperatures inand around the sensors to determine whether condensation may form. Upondetermining condensation may form, the additional sensors may triggerthe application of a heated fluid to the cover. In some instances, thesensor itself, or an additional sensor, may initiate the application ofa fluid to the sensor cover upon determining the internal components'signals are being impeded.

Referring back to FIG. 12, the contaminant removal system 1200 mayinclude controller 1280, such as one or more microprocessor, processors,computer devices, etc. which may control the operation of components ofthe contaminant removal system. In this regard, the controller 1280 maybe connected to the pump 1255 and heater, as well as other components ofthe system, such as additional sensors described herein, such as thesensor 550 which monitors the sensor cover 215. Upon receiving a signalto engage, or determining that the system should engage based on datareceived from the additional sensors such as monitoring sensor 550, thecontroller 1280 may trigger one or more components of the contaminantremoval system 1200 to engage. For instance, the controller 1280, upondetermining a sensor cover, such as sensor cover 215, is covered withcondensation or other elements may trigger the pump 1255 to engageresulting in the repositionable sprayer system outputting a stream offluid on the sensor cover. Upon the sensor cover being cleared of thedirt, debris and other such contaminants, the controller may disengagethe components of the contaminant removal system 1200. In someinstances, the controller may receive temperature and humidity data fromwithin the sensor cover and from the vehicle's exterior to determinewhether the heater 1230 should be engaged or disengaged during theoperation of the contaminant removal system. In this regard, should theambient temperature be below a threshold, such as 40 degrees Fahrenheit,or more or less, the controller may trigger the heater to engage whenthe pump 1220 is engaged.

In some instances the controller may receive a signal from a manuallyoperated input, such as a switch, button, lever, etc. In response to thereceived signal, the controller 1280 may engage or disengage thecontaminant removal system 1200.

The features described herein may allow for continued use of a sensoreven when the sensor's cover becomes dirty or wet due to the buildup ofdebris, contaminants, condensation, and other such elements. As such,the vehicle may continually operate in environments which produce a lotof debris and contaminants, such as outdoors in the rain or snow or atconstruction sites or off-road locations. In addition, less fluid may beused as bursts of fluid may be output from the sprayer which ispositioned closer to the contaminants and other elements to effectivelyclear the sensor cover. Moreover, the features described herein mayremove the need for a wiper to wipe contaminants from the sensor'scover, resulting in fewer moving parts to clear the sensor cover.

Most of the foregoing alternative examples are not mutually exclusive,but may be implemented in various combinations to achieve uniqueadvantages. As these and other variations and combinations of thefeatures discussed above can be utilized without departing from thesubject matter defined by the claims, the foregoing description of theembodiments should be taken by way of illustration rather than by way oflimitation of the subject matter defined by the claims. As an example,the preceding operations do not have to be performed in the preciseorder described above. Rather, various steps can be handled in adifferent order, such as reversed, or simultaneously. Steps can also beomitted unless otherwise stated. In addition, the provision of theexamples described herein, as well as clauses phrased as “such as,”“including” and the like, should not be interpreted as limiting thesubject matter of the claims to the specific examples; rather, theexamples are intended to illustrate only one of many possibleembodiments. Further, the same reference numbers in different drawingscan identify the same or similar elements.

1. A system for clearing a sensor cover, the system comprising: asprayer; a support, wherein the sprayer is mounted to the support; and apositioning device, wherein the positioning device is configured toadjust a position of the sprayer on the support, and wherein the sprayeris configured to direct a flow of fluid to the sensor cover.
 2. Thesystem of claim 1, wherein the sprayer includes a nozzle, wherein thenozzle is positioned to direct the flow of fluid to an area of thesensor cover.
 3. The system of claim 2, wherein the position of thenozzle is adjustable to direct the flow of fluid to other areas of thesensor cover.
 4. The system of claim 1, further comprising one or moreadditional sprayers.
 5. The system of claim 4, wherein the one or moreadditional sprayers are mounted on the support.
 6. The system of claim 4further comprising one or more additional supports.
 7. The system ofclaim 6, wherein the one or more additional sprayers are mounted on theone or more additional supports.
 8. The system of claim 1, wherein thepositioning device is a linear actuator.
 9. The system of claim 8,wherein the linear actuator is attached to the sprayer via an arm,wherein the arm is configured to adjust the position of the sprayer onthe support.
 10. The system of claim 1, wherein the support includes aplurality of grooves, and the sprayer includes a gear system, whereinthe gear system is rotatable in the plurality of grooves.
 11. The systemof claim 10, wherein the sprayer further includes a turbine, wherein theturbine is configured to rotate the gear system in the plurality ofgrooves.
 12. The system of claim 1, further comprising: a track, whereinthe support is positioned within the track.
 13. The system of claim 12,further comprising a motor, wherein the motor is configured to rotatethe support within the track and around the sensor cover.
 14. The systemof claim 13, wherein the support is attached to the track and the motoris configured to rotate the track around the sensor cover.
 15. Thesystem of claim 1, further comprising a pump for providing the sprayerwith the fluid.
 16. The system of claim 1, further comprising anactuator, wherein the actuator is configured to adjust a height of thesupport relative to the sensor cover.
 17. The system of claim 1, whereinthe fluid is one or more of water, anti-freeze, detergent, gas, andsoap.
 18. The system of claim 1 further comprising a monitoring sensor,wherein the monitoring sensor is configured to detect a buildup of oneor more elements on the sensor cover.
 19. The system of claim 18,wherein the one or more elements are any combination of ice, snow, andcondensation.
 20. The system of claim 19, wherein the monitoring sensor,upon detecting a buildup of one or more elements on the sensor cover,triggers the sprayer to direct the flow of fluid on the sensor cover ina direction of the one or more elements.